#include "fort.h"
#include "stm32f4xx_usart.h"
#include "string.h"
#include "timer.h"
#include "math.h"
#include "pps.h"
#include "usart.h"
#include "moveBase.h"
extern int detr1;
extern float detv1;
extern int speedX,speedY,angleZ;
